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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li>  </ul>
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<a href="collision__checker_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef COLLISION_CHECKER_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define COLLISION_CHECKER_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="application_8h.html">collision/application.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="primitive__collision__checker_8h.html">collision/primitive_collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision/collision_object.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__collision__checker_8h.html">collision/i_collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__aabb_8h.html">collision/narrowphase/rectangle_aabb.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__checker_8h.html">collision/solvers/fcl/fcl_collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__collision__checker__export_8h.html">collision/i_collision_checker_export.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="namespacecollision.html">   20</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="namespacecollision.html#a41db47b373df476bf4e0bd5cf7ed2d6b">   22</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_collision_checker.html">CollisionChecker</a>;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;CollisionChecker&gt; <a class="code" href="namespacecollision.html#a41db47b373df476bf4e0bd5cf7ed2d6b">CollisionCheckerPtr</a>;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="namespacecollision.html#a95bc7457b930479570887882efed9e6e">   24</a></span>&#160;<span class="keyword">typedef</span> std::shared_ptr&lt;const CollisionChecker&gt; <a class="code" href="namespacecollision.html#a95bc7457b930479570887882efed9e6e">CollisionCheckerConstPtr</a>;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers.html">   29</a></span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html">   30</a></span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html">FCLCollisionChecker</a>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;}</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_collision_checker.html">CollisionChecker</a>;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_checker.html">   45</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_collision_checker.html">CollisionChecker</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS == 1</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classcollision_1_1test_1_1_collision_checker_test.html">collision::test::CollisionCheckerTest</a>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_checker.html#aadf36b4bbca1a64a2b497f41f2f53e8b">   53</a></span>&#160;  <a class="code" href="classcollision_1_1_collision_checker.html#aadf36b4bbca1a64a2b497f41f2f53e8b">CollisionChecker</a>() : <a class="code" href="classcollision_1_1_collision_checker.html#a605c5763ed2a920435e50187bf26d7d7">fcl_cc_</a>(*this){};</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_collision_checker.html#acded699038b6f0872998532fbee498f5">addCollisionObject</a>(</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co); </div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">//#if TIME_PROFILE_ENABLED</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#if (0)</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordtype">void</span> perfReport() { <a class="code" href="namespacetest.html#ab23a59eb5a9a7202dce72b63ef7e9889">test::report_perfomance</a>(); }</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">void</span> perfStart() { <a class="code" href="namespacetest.html#a169f2e73bbb97d11c592d4724a45237e">test::init_perfomance_timers</a>(); }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  serialize::ICollisionCheckerExport *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize</a>(std::ostream &amp;output_stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">static</span> <a class="code" href="namespacecollision.html#a95bc7457b930479570887882efed9e6e">CollisionCheckerConstPtr</a> <a class="code" href="namespacecollision_1_1serialize.html#afa68d93c7ceeaba3b3a6a32bf9917aba">deserialize</a>(std::istream &amp;output_stream);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_checker.html#ab143c35c5989325e2f2fb7fba632c471">rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                std::vector&lt;LineSegment&gt; &amp;intersect,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                <span class="keywordtype">bool</span> remove_overlaps = <span class="keyword">true</span>);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_collision_checker.html#a4e0712276f0d648a1b6993498eb568fe">collisionTime</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co) <span class="keyword">const</span>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="preprocessor">#if (ENABLE_COLLISION_TESTS)</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_checker.html#afbd1ef6a0ced0038e7145f83a0aef93c">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keywordtype">int</span> *collision_time = 0,</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;               <span class="keywordtype">bool</span> enable_test = <span class="keyword">true</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_checker.html#afbd1ef6a0ced0038e7145f83a0aef93c">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &amp;obstacle,</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;               <span class="keywordtype">bool</span> ungroup_shape_groups = <span class="keyword">false</span>,</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;               <span class="keywordtype">bool</span> ungroup_TV_obstacles = <span class="keyword">false</span>,</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;               <span class="keywordtype">bool</span> enable_test = <span class="keyword">true</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_checker.html#afbd1ef6a0ced0038e7145f83a0aef93c">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;               std::vector&lt;CollisionObjectConstPtr&gt; &amp;obstacles,</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;               <span class="keywordtype">bool</span> ungroup_shape_groups = <span class="keyword">false</span>,</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;               <span class="keywordtype">bool</span> ungroup_TV_obstacles = <span class="keyword">false</span>,</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;               <span class="keywordtype">bool</span> enable_test = <span class="keyword">true</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_checker.html#afbd1ef6a0ced0038e7145f83a0aef93c">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keywordtype">int</span> *collision_time = 0) <span class="keyword">const</span>;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_checker.html#afbd1ef6a0ced0038e7145f83a0aef93c">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &amp;obstacle,</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;               <span class="keywordtype">bool</span> ungroup_shape_groups = <span class="keyword">false</span>,</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;               <span class="keywordtype">bool</span> ungroup_TV_obstacles = <span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_collision_checker.html#afbd1ef6a0ced0038e7145f83a0aef93c">collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;               std::vector&lt;CollisionObjectConstPtr&gt; &amp;obstacles,</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;               <span class="keywordtype">bool</span> ungroup_shape_groups = <span class="keyword">false</span>,</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;               <span class="keywordtype">bool</span> ungroup_TV_obstacles = <span class="keyword">false</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="namespacecollision.html#a41db47b373df476bf4e0bd5cf7ed2d6b">CollisionCheckerPtr</a> <a class="code" href="classcollision_1_1_collision_checker.html#a275d33c4855e33cd1692d1b50fb74810">windowQuery</a>(<span class="keyword">const</span> RectangleAABB &amp;aabb) <span class="keyword">const</span>;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <a class="code" href="namespacecollision.html#a26b4aad32d10b8574b3dde076db249b6">PrimitiveCollisionCheckerPtr</a></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <a class="code" href="classcollision_1_1_collision_checker.html#a970f71867c6598da2ff29f645cc5dc33">windowQueryPrimitive</a>(<span class="keyword">const</span> RectangleAABB &amp;aabb) <span class="keyword">const</span>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <a class="code" href="namespacecollision.html#a41db47b373df476bf4e0bd5cf7ed2d6b">CollisionCheckerPtr</a> <a class="code" href="classcollision_1_1_collision_checker.html#a99e1067067af2ebc3454da0c64f8b9cd">timeSlice</a>(<span class="keywordtype">int</span> time_idx) <span class="keyword">const</span>;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_collision_checker.html#a633266d69fdaadc964559016d049b795">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_collision_checker.html#a19831589411e9533c819e3368c6126bf">toString</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcollision_1_1_collision_checker.html#af7c8460a5c01d2c2a5afae4f583231f0">numberOfObstacles</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; <a class="code" href="classcollision_1_1_collision_checker.html#a5706822775c534f6aa4318dbbdda97bd">getObstacles</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_checker.html#a767cd3dd7c7e58eba68b023ebbe9925a">  112</a></span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; <a class="code" href="classcollision_1_1_collision_checker.html#a767cd3dd7c7e58eba68b023ebbe9925a">collision_objects_</a>;</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classcollision_1_1_collision_checker.html#a605c5763ed2a920435e50187bf26d7d7">  113</a></span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html">FCLCollisionChecker</a> <a class="code" href="classcollision_1_1_collision_checker.html#a605c5763ed2a920435e50187bf26d7d7">fcl_cc_</a>;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;};</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacecollision_html_a95bc7457b930479570887882efed9e6e"><div class="ttname"><a href="namespacecollision.html#a95bc7457b930479570887882efed9e6e">collision::CollisionCheckerConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionChecker &gt; CollisionCheckerConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00024">collision_checker.h:24</a></div></div>
<div class="ttc" id="namespacecollision_html_a26b4aad32d10b8574b3dde076db249b6"><div class="ttname"><a href="namespacecollision.html#a26b4aad32d10b8574b3dde076db249b6">collision::PrimitiveCollisionCheckerPtr</a></div><div class="ttdeci">std::shared_ptr&lt; PrimitiveCollisionChecker &gt; PrimitiveCollisionCheckerPtr</div><div class="ttdef"><b>Definition:</b> <a href="primitive__collision__checker_8h_source.html#l00020">primitive_collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_checker_html_a633266d69fdaadc964559016d049b795"><div class="ttname"><a href="classcollision_1_1_collision_checker.html#a633266d69fdaadc964559016d049b795">collision::CollisionChecker::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8cc_source.html#l00328">collision_checker.cc:328</a></div></div>
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<div class="ttc" id="classcollision_1_1_collision_checker_html_a5706822775c534f6aa4318dbbdda97bd"><div class="ttname"><a href="classcollision_1_1_collision_checker.html#a5706822775c534f6aa4318dbbdda97bd">collision::CollisionChecker::getObstacles</a></div><div class="ttdeci">std::vector&lt; CollisionObjectConstPtr &gt; getObstacles(void) const</div><div class="ttdoc">Returns a Vector with all contained CollisionObjects of any type.</div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8cc_source.html#l00324">collision_checker.cc:324</a></div></div>
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<div class="ttc" id="classcollision_1_1_collision_checker_html_aadf36b4bbca1a64a2b497f41f2f53e8b"><div class="ttname"><a href="classcollision_1_1_collision_checker.html#aadf36b4bbca1a64a2b497f41f2f53e8b">collision::CollisionChecker::CollisionChecker</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionChecker()</div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00053">collision_checker.h:53</a></div></div>
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<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_a41db47b373df476bf4e0bd5cf7ed2d6b"><div class="ttname"><a href="namespacecollision.html#a41db47b373df476bf4e0bd5cf7ed2d6b">collision::CollisionCheckerPtr</a></div><div class="ttdeci">std::shared_ptr&lt; CollisionChecker &gt; CollisionCheckerPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00022">collision_checker.h:22</a></div></div>
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<div class="ttc" id="namespacecollision_1_1serialize_html_afa68d93c7ceeaba3b3a6a32bf9917aba"><div class="ttname"><a href="namespacecollision_1_1serialize.html#afa68d93c7ceeaba3b3a6a32bf9917aba">collision::serialize::deserialize</a></div><div class="ttdeci">int deserialize(test::BroadphaseFailureCCObj &amp;bf_object, std::istream &amp;input_stream, const char *format=SERIALIZER_DEFAULT_FORMAT)</div></div>
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<div class="ttc" id="classcollision_1_1_collision_checker_html_a4e0712276f0d648a1b6993498eb568fe"><div class="ttname"><a href="classcollision_1_1_collision_checker.html#a4e0712276f0d648a1b6993498eb568fe">collision::CollisionChecker::collisionTime</a></div><div class="ttdeci">int collisionTime(CollisionObjectConstPtr co) const</div><div class="ttdoc">Returns timestep at which any of the objects contained in the CollisionChecker collides with the give...</div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8cc_source.html#l00032">collision_checker.cc:32</a></div></div>
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